fix: pubsub typescript type export

[wemeetagain]

Resolve #114

I'm not entirely sure what about the typesVersions field breaks the types, but... removing it resolves the problem.
We shouldn't need the typesVersions field anyways unless we have different types for different versions of typescript.

Added an additional field to typeVersions. Based on how it's done in uint8arrays

This probably should be applied to all of the packages, but I tested this locally against gossipsub.
LMK if you'd like me to apply this consistently.

[achingbrain]

We need the typesVersions field to do deep requires, hence the ci failure:

Error: libp2p-interfaces-compliance-tests: src/pubsub/messages.ts(5,24): error TS2307: Cannot find module 'libp2p-pubsub/utils' or its corresponding type declarations.
Error: libp2p-interfaces-compliance-tests: src/pubsub/messages.ts(6,29): error TS2307: Cannot find module 'libp2p-pubsub/peer-streams' or its corresponding type declarations.

Chances are the types are breaking because typesVersions is missing a wildcard - if you build with --traceResolution you should be able to see where tsc is trying to load the .d.ts from and why it's not doing what we think it should be doing.

[wemeetagain]

Thanks for the --traceResolution advice, very helpful for debugging.

@achingbrain ready for another review